CN104881023A - Control method of multi-rotor type aircraft, and multi-rotor type aircraft - Google Patents
Control method of multi-rotor type aircraft, and multi-rotor type aircraft Download PDFInfo
- Publication number
- CN104881023A CN104881023A CN201510199084.0A CN201510199084A CN104881023A CN 104881023 A CN104881023 A CN 104881023A CN 201510199084 A CN201510199084 A CN 201510199084A CN 104881023 A CN104881023 A CN 104881023A
- Authority
- CN
- China
- Prior art keywords
- rotor aerocraft
- flight
- warning
- offline mode
- rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The present invention provides a control method of a multi-rotor type aircraft. The method comprises the steps of obtaining a position parameter of the multi-rotor type aircraft; according to the position parameter of the multi-rotor type aircraft, determining a flight area of the multi-rotor type aircraft; according to the flight area of the multi-rotor type aircraft, determining a flight mode of the multi-rotor type aircraft; and carrying out the flight control on the multi-rotor type aircraft by using the flight mode of the multi-rotor type aircraft. The present invention also provides the multi-rotor type aircraft. According to the control method of the multi-rotor type aircraft, and the multi-rotor type aircraft of the present invention, different flight modes are adopted in allusion to an flight safe area and a no-fly area of the multi-rotor type aircraft, thereby improving the working efficiency of the multi-rotor type aircraft.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, particularly relate to a kind of control method and multi-rotor aerocraft of multi-rotor aerocraft.
Background technology
Along with the development of science and technology, unmanned vehicle makes people can realize the function such as aeroplane photography and communication navigation easily, the moving range of user is transformed into three dimensions by the two-dimensional space on ground, the loss of manpower and physics can also be effectively reduced simultaneously.
Existing unmanned vehicle can realize target detection or the target following of long-time, long distance, but its flight range may not carry out detailed setting, thus causes this unmanned vehicle may produce potential safety hazard when flying.
As unmanned vehicle fly into some concerning security matters or private area etc. non-surveyed area time, the dislike of the people in this region may be caused; When also flying into airport or wiring cad just like unmanned vehicle, the generation of aviation safety accident may be caused.The generation of these events all brings adverse influence to the development of unmanned vehicle industry.
For above-mentioned defect, the chamber of commerce of factory of unmanned vehicle is arranged its flight range on unmanned vehicle, and the regional assignment of significant discomfort being closed unmanned vehicle is no-fly region.But the division in above-mentioned simple no-fly region, cause unmanned vehicle cannot carry out good transition in safety zone and no-fly region, the emergency processing time is few, affects the development of unmanned vehicle industry equally.
In order to improve target detection or the target following efficiency of unmanned vehicle, application number is that the patent of invention of the indoor autonomous navigation method of a kind of Micro Aerial Vehicle of 201410466305.1 discloses a kind of based on RGB-D camera and MEMS(Micro-Electro-Mechanical System, MEMS (micro electro mechanical system)) three-dimensional environment Real-time modeling set that inertial sensor merges, thus carries out the air navigation aid of the Micro Aerial Vehicle of path planning and tracing control in real time.But wherein also the Based Intelligent Control how unmanned vehicle realizes offline mode is not described.
Application number be 201410105284.0 the portable method for tracking target based on four-axle aircraft and system disclose the fast and control method of the aircraft that accuracy that is that follow the tracks of is high of a kind of execution speed.Wherein also the Based Intelligent Control how unmanned vehicle realizes offline mode is not described.
Therefore, be necessary control method and multi-rotor aerocraft that a kind of multi-rotor aerocraft is provided, to solve the problem existing for prior art.
Summary of the invention
The embodiment of the present invention provides a kind of flight safety region for multi-rotor aerocraft and no-fly region, adopt control method and the multi-rotor aerocraft of the multi-rotor aerocraft of different offline mode, achieve and use different offline mode to carry out Based Intelligent Control to multi-rotor aerocraft, improve the work efficiency of multi-rotor aerocraft; The Based Intelligent Control of offline mode can not be realized with the control method and multi-rotor aerocraft that solve existing multi-rotor aerocraft, cause the technical matters that the work efficiency of multi-rotor aerocraft is lower.
For solving the problem, technical scheme provided by the invention is as follows:
The embodiment of the present invention provides a kind of control method of multi-rotor aerocraft, and it comprises:
Obtain the location parameter of described multi-rotor aerocraft;
According to the location parameter of described multi-rotor aerocraft, determine the flight range of described multi-rotor aerocraft; Wherein said flight range comprises no-fly region and safety zone;
According to the flight range of described multi-rotor aerocraft, determine the offline mode of described multi-rotor aerocraft; And
Use the offline mode of described multi-rotor aerocraft, flight is carried out to described multi-rotor aerocraft and controls;
Wherein according to the flight range of described multi-rotor aerocraft, determine that the step of the offline mode of described multi-rotor aerocraft comprises:
As described in multi-rotor aerocraft be in as described in no-fly region time, perform warning offline mode;
As described in multi-rotor aerocraft be in as described in safety zone time, perform normal flight pattern.
In the control method of multi-rotor aerocraft of the present invention, when described multi-rotor aerocraft is in described warning offline mode, described multi-rotor aerocraft carries out alarm operation, after setting-up time, performs operation of making a return voyage.
In the control method of multi-rotor aerocraft of the present invention, described flight range also comprises flight warning region; The described flight range according to described multi-rotor aerocraft, determine that the step of the offline mode of described multi-rotor aerocraft also comprises:
As described in multi-rotor aerocraft be in flight warning region time, perform restriction offline mode; Wherein said flight warning region is between described no-fly region and described safety zone.
In the control method of multi-rotor aerocraft of the present invention, when described multi-rotor aerocraft is in described restriction offline mode, described multi-rotor aerocraft obtains the heading of described multi-rotor aerocraft, as as described in the heading of multi-rotor aerocraft be away from as described in no-fly region, then perform described normal flight pattern; As described in the heading of multi-rotor aerocraft be near as described in no-fly region, then perform described warning offline mode.
In the control method of multi-rotor aerocraft of the present invention, when described multi-rotor aerocraft is in described restriction offline mode, the flying height of described multi-rotor aerocraft and flying speed are set to preset value.
The embodiment of the present invention also provides a kind of multi-rotor aerocraft, and it comprises:
Body;
Multiple rotor;
GPS module, is arranged on described body, for obtaining the location parameter of described multi-rotor aerocraft;
Flight range database chip, is arranged on described body, for storing the flight range data of described multi-rotor aerocraft;
Geographic information processing device, is arranged on described body, for the location parameter of described multi-rotor aerocraft that obtains according to described GPS and described flight range data, determines the flight range of described multi-rotor aerocraft; Wherein said flight range comprises no-fly region and safety zone; And
Flight range control module, for the flight range according to described multi-rotor aerocraft, determines the offline mode of described multi-rotor aerocraft; And use the offline mode of described multi-rotor aerocraft, flight is carried out to described multi-rotor aerocraft and controls;
Wherein said flight range control module comprises:
To report to the police flight performance element, for as described in multi-rotor aerocraft be in described no-fly region time, execution warning offline mode; And
Normal flight performance element, for as described in multi-rotor aerocraft be in as described in safety zone time, perform normal flight pattern.
In multi-rotor aerocraft of the present invention, when described multi-rotor aerocraft is in described warning offline mode, described multi-rotor aerocraft carries out alarm operation; After carrying out described alarm operation setting-up time, perform operation of making a return voyage.
In multi-rotor aerocraft of the present invention, described flight range also comprises flight warning region; Described flight range control module also comprises:
Warning flight performance element, for as described in multi-rotor aerocraft be in flight warning region time, perform restriction offline mode; Wherein said flight warning region is between described no-fly region and described safety zone.
In multi-rotor aerocraft of the present invention, when described multi-rotor aerocraft is in described restriction offline mode, described warning flight performance element obtains the heading of described multi-rotor aerocraft, as as described in the heading of multi-rotor aerocraft be away from as described in no-fly region, then described warning flight performance element performs described normal flight pattern; As described in the heading of multi-rotor aerocraft be near as described in no-fly region, then the described warning performance element that flies performs described warning offline mode.
In multi-rotor aerocraft of the present invention, when described multi-rotor aerocraft is in described restriction offline mode, the flying height of described multi-rotor aerocraft and flying speed are set to preset value by described warning flight performance element.
Compared to control method and the multi-rotor aerocraft of the multi-rotor aerocraft of prior art, the control method of multi-rotor aerocraft of the present invention and multi-rotor aerocraft are for the flight safety region of multi-rotor aerocraft and no-fly region, adopt different offline mode, no-fly region can be evaded in real time awing, for flight sensitizing range also can intelligence warning suggestion is provided, effectively ensure that the flight safety of multi-rotor aerocraft.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the preferred embodiment of the control method of multi-rotor aerocraft of the present invention;
Fig. 2 is the structural representation of the preferred embodiment of multi-rotor aerocraft of the present invention;
Fig. 3 is the structural representation of the flight range control module of the preferred embodiment of multi-rotor aerocraft of the present invention;
Fig. 4 is the process flow diagram of the control method of multi-rotor aerocraft of the present invention and the specific embodiment of multi-rotor aerocraft.
Embodiment
Please refer to graphic, wherein identical element numbers represents identical assembly, and principle of the present invention implements to illustrate in a suitable computing environment.The following description is based on the illustrated specific embodiment of the invention, and it should not be regarded as limiting the present invention not at other specific embodiment that this describes in detail.
The control method of multi-rotor aerocraft of the present invention can be arranged in existing multi-rotor aerocraft, to be better controlled multi-rotor aerocraft, is improve the work efficiency of multi-rotor aerocraft by multiple different offline mode.
Please refer to Fig. 1, Fig. 1 is the process flow diagram of the preferred embodiment of the control method of multi-rotor aerocraft of the present invention.The control method of the multi-rotor aerocraft of this preferred embodiment comprises:
Step S101, obtains the location parameter of described multi-rotor aerocraft;
Step S102, according to the location parameter of multi-rotor aerocraft, determines the flight range of multi-rotor aerocraft;
Step S103, according to the flight range of multi-rotor aerocraft, determines the offline mode of multi-rotor aerocraft;
Step S104, uses the offline mode of multi-rotor aerocraft, carries out flight control multi-rotor aerocraft.
The following detailed description of the idiographic flow of each step of the control method of the multi-rotor aerocraft of this preferred embodiment.
In step S101, multi-rotor aerocraft periodically obtains the location parameter of multi-rotor aerocraft by GPS; Certainly here in order to save the resource of communication, multi-rotor aerocraft also according to user instruction, can obtain the location parameter of multi-rotor aerocraft by GPS.Forward step S102 to subsequently.
In step s 102, the location parameter of the multi-rotor aerocraft that multi-rotor aerocraft obtains according to step S101, determines the flight range of multi-rotor aerocraft.Here flight range comprises safety zone, flight warning region and no-fly region.Safety zone refers to that multi-rotor aerocraft unrestrictedly can carry out the region of flying.No-fly region refers to that airport or government offices forbid that unauthorized aircraft carries out the region of flying.Flight warning region refers to the region between safety zone and no-fly region, and it is generally arranged on the periphery in no-fly region, there to be the sufficient time to arrange multi-rotor aerocraft, avoids it to enter no-fly region.Forward step S103 to subsequently.
In step s 103, multi-rotor aerocraft, according to the flight range of the multi-rotor aerocraft obtained in step S102, determines the offline mode of multi-rotor aerocraft.Be specially the duty of flight range according to multi-rotor aerocraft and multi-rotor aerocraft, determine the offline mode of multi-rotor aerocraft.
As multi-rotor aerocraft is in no-fly region, and multi-rotor aerocraft is in state of flight, then multi-rotor aerocraft switches to floating state, then warning offline mode is performed, namely multi-rotor aerocraft stops flight, the warning that right rear line sends current no-fly region is reminded or sends acousto-optic warning signal by multi-rotor aerocraft directly to outside, to avoid the generation of aviation safety accident.After alarm operation setting-up time, this multi-rotor aerocraft performs operation of making a return voyage.
As multi-rotor aerocraft is in no-fly region, and multi-rotor aerocraft is in floating state or non-state of flight, then the warning that multi-rotor aerocraft sends current no-fly region directly to user is reminded or sends acousto-optic warning signal by multi-rotor aerocraft directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid multi-rotor aerocraft air crash.This multi-rotor aerocraft performs operation of making a return voyage.
As multi-rotor aerocraft is in safety zone, then perform normal flight pattern, namely carry out flight by the flight directive received and control.
As multi-rotor aerocraft is in flight warning region, then perform display offline mode, i.e. multi-rotor aerocraft getter heading, the heading as multi-rotor aerocraft is away from no-fly region, then perform normal flight pattern, namely carry out flight by the flight directive received and control; Heading as multi-rotor aerocraft is near no-fly region, then perform warning offline mode, and the warning that namely multi-rotor aerocraft sends current no-fly region directly to user is reminded or sends acousto-optic warning signal by multi-rotor aerocraft directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid multi-rotor aerocraft air crash.This multi-rotor aerocraft performs operation of making a return voyage.
Simultaneously, when multi-rotor aerocraft is in flight warning region, flying height and flying speed can be set to preset value by multi-rotor aerocraft, the general subnormal flying height of this preset value and flying speed, so that user has the more sufficient time, the flight directive to multi-rotor aerocraft is changed.Forward step S104 to subsequently.
In step S104, the offline mode of the multi-rotor aerocraft that multi-rotor aerocraft uses step S103 to obtain, carries out flight to multi-rotor aerocraft and controls.
So namely, complete the control procedure of the multi-rotor aerocraft of the control method of the multi-rotor aerocraft of this preferred embodiment.
The control method of multi-rotor aerocraft of the present invention, for the flight safety region of multi-rotor aerocraft and no-fly region, adopts different offline mode, improves the work efficiency of multi-rotor aerocraft.
The present invention also provides a kind of multi-rotor aerocraft, please refer to Fig. 2, and Fig. 2 is the structural representation of the preferred embodiment of multi-rotor aerocraft of the present invention.The multi-rotor aerocraft of this preferred embodiment can use the preferred embodiment of the control method of above-mentioned multi-rotor aerocraft to implement, and this multi-rotor aerocraft 20 comprises body 21, multiple rotor 22, GPS module 23, flight range database chip 24, geographic information processing device 25 and flight range control module 26.Multiple rotors 22 are arranged on the side of body; GPS module 23 is arranged on body 21, for obtaining the location parameter of multi-rotor aerocraft 20; Flight range database chip 24 is arranged on body, for storing the flight range data of multi-rotor aerocraft 20; Geographic information processing device 25 is arranged on body, for the location parameter of multi-rotor aerocraft 20 that obtains according to GPS module 23 and flight range data, determine the flight range of multi-rotor aerocraft 20, this flight range comprises safety zone, flight warning region and no-fly region; Flight range control module 24, for the flight range according to multi-rotor aerocraft 20, determines the offline mode of multi-rotor aerocraft 20; And use the offline mode of multi-rotor aerocraft 20, flight is carried out to multi-rotor aerocraft 20 and controls.
Please refer to Fig. 3, Fig. 3 is the structural representation of the flight range control module of the preferred embodiment of multi-rotor aerocraft of the present invention.This flight range control module 26 comprises flight performance element 261 of reporting to the police, normal flight performance element 262 and restriction flight performance element 263.Report to the police flight performance element 261 for when such as multi-rotor aerocraft 20 is in no-fly region, performs warning offline mode; Normal flight performance element 262, for when such as multi-rotor aerocraft 20 is in safety zone, performs normal flight pattern; Restriction flight performance element 263, for when such as multi-rotor aerocraft 20 is in warning offline mode, performs warning offline mode.
When the multi-rotor aerocraft 20 of this preferred embodiment uses, first GPS module 23 periodically obtains the location parameter of multi-rotor aerocraft 20 by GPS; Certainly here in order to save the resource of communication, GPS module 23 also according to user instruction, can obtain the location parameter of multi-rotor aerocraft 20 by GPS.
The location parameter of multi-rotor aerocraft 20 that obtains according to GPS module 23 of geographic information processing device 25 and the flight range data that are stored in flight range database chip 24, determine the flight range of multi-rotor aerocraft 20 subsequently.Here flight range comprises safety zone, flight warning region and no-fly region.Safety zone refers to that multi-rotor aerocraft 20 unrestrictedly can carry out the region of flying.No-fly region refers to that airport or government offices forbid that unauthorized aircraft carries out the region of flying.Flight warning region refers to the region between safety zone and no-fly region, and it is generally arranged on the periphery in no-fly region, there to be the sufficient time to arrange multi-rotor aerocraft, avoids it to enter no-fly region.
Then the flight range of multi-rotor aerocraft 20 that obtains according to geographical message handler 25 of flight range control module 26, determines the offline mode of multi-rotor aerocraft 20.Be specially the duty of flight range according to multi-rotor aerocraft 20 and multi-rotor aerocraft 20, determine the offline mode of multi-rotor aerocraft 20.
As multi-rotor aerocraft 20 is in no-fly region, and multi-rotor aerocraft is in state of flight, then multi-rotor aerocraft is switched to floating state by the warning flight performance element 261 of flight range control module 26, then warning offline mode is performed, namely multi-rotor aerocraft 20 stops flight, the warning that right rear line sends current no-fly region is reminded or sends acousto-optic warning signal by multi-rotor aerocraft 20 directly to outside, to avoid the generation of aviation safety accident.After alarm operation setting-up time, this multi-rotor aerocraft 20 performs operation of making a return voyage.
As multi-rotor aerocraft 20 is in no-fly region, and multi-rotor aerocraft 20 is in floating state or non-state of flight, then flight performance element 261 of reporting to the police controls multi-rotor aerocraft 20 and sends the warning prompting in current no-fly region directly to user or send acousto-optic warning signal by multi-rotor aerocraft 20 directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid multi-rotor aerocraft 20 air crash.This multi-rotor aerocraft 20 performs operation of making a return voyage.
As multi-rotor aerocraft 20 is in safety zone, then the normal flight performance element 262 of flight range control module 26 performs normal flight pattern, namely carries out flight by the flight directive received and controls.
As multi-rotor aerocraft 20 is in flight warning region, then the restriction flight performance element 263 of flight range control module 26 performs warning offline mode, i.e. restriction flight performance element 263 getter heading, heading as multi-rotor aerocraft 20 is away from no-fly region, then restriction flight performance element 263 performs normal flight pattern, namely carries out flight by the flight directive received and controls; Heading as multi-rotor aerocraft 20 is near no-fly region, then restriction flight performance element 263 performs warning offline mode, and the warning that namely restriction flight performance element 263 sends current no-fly region directly to user is reminded or sends acousto-optic warning signal by multi-rotor aerocraft 20 directly to outside.After alarm operation setting-up time, as do not received instruction of making a return voyage, in order to ensure the aviation safety of no-fly zone, simultaneously also in order to avoid multi-rotor aerocraft 20 air crash.This multi-rotor aerocraft 20 performs operation of making a return voyage.
Simultaneously, when multi-rotor aerocraft 20 is in flight warning region, the flying height of multi-rotor aerocraft 20 and flying speed can be set to preset value by restriction flight performance element 263, the general subnormal flying height of this preset value and flying speed, so that user has the more sufficient time, the flight directive to multi-rotor aerocraft 20 is changed.
Last flight range control module 26 uses the offline mode of the multi-rotor aerocraft 20 determined, carries out flight control multi-rotor aerocraft 20.
So namely, complete the control procedure of the multi-rotor aerocraft of this preferred embodiment.
Preferably, the multi-rotor aerocraft 20 of this preferred embodiment also comprises the remote controllers (not shown) that can control the flight attitude of multi-rotor aerocraft 20 and flight data dispose.
Preferably, user upgrades by wireless network the flight range data in the flight range database chip 24 of multi-rotor aerocraft 20 or edits.
Multi-rotor aerocraft of the present invention, for the flight safety region of multi-rotor aerocraft and no-fly region, adopts different offline mode, improves the work efficiency of multi-rotor aerocraft.
Below by a specific embodiment, the control method of multi-rotor aerocraft of the present invention and the specific works principle of multi-rotor aerocraft are described.Please refer to Fig. 4, Fig. 4 is the process flow diagram of the control method of multi-rotor aerocraft of the present invention and the specific embodiment of multi-rotor aerocraft.This specific embodiment comprises:
Step S401, is periodically obtained the location parameter of multi-rotor aerocraft, forwards step S403 to subsequently by GPS.
Step S402, receives user instruction, and according to user instruction, is obtained the location parameter of multi-rotor aerocraft by GPS.Forward step S403 to subsequently.
Step S403, according to the location parameter of multi-rotor aerocraft, determines the flight range of multi-rotor aerocraft; Flight range as multi-rotor aerocraft is no-fly region, then forward step S404 to; Flight range as multi-rotor aerocraft is safety zone, then forward step S407 to; Flight range as multi-rotor aerocraft is flight warning region, then forward step S408 to.
Step S404, judges the duty of multi-rotor aerocraft, if multi-rotor aerocraft is state of flight, then forwards step S405 to; If multi-rotor aerocraft is non-state of flight, then forward step S406 to.
Step S405, switches to floating state by multi-rotor aerocraft, forwards step S406 to subsequently.
Step S406, multi-rotor aerocraft carries out Zone Alerts operation, and user can perform multi-rotor aerocraft makes a return voyage operation, or away from the operation in complete no-fly region and the no-fly region of condition.As user does not carry out any operation after alarm operation setting-up time, then multi-rotor aerocraft performs operation of making a return voyage, and with when not affecting aviation safety, recycles multi-rotor aerocraft.
Step S407, multi-rotor aerocraft performs flight directive, and the acquisition frequency of the parameter that can dip, to reduce the power consumption of multi-rotor aerocraft.
Step S408, judges the duty of multi-rotor aerocraft, if multi-rotor aerocraft is non-state of flight, then forwards step S409 to; If multi-rotor aerocraft is state of flight, then forward step S410 to.
Step S409, the flying height of multi-rotor aerocraft and flying speed are set to preset value, and multi-rotor aerocraft is also sustainable here sends suitable prompting message to user, the careful manipulation of reminding user, note flight item, avoid entering complete no-fly region and the no-fly region of condition.Forward step S410 to subsequently.
Step S410, judges the heading of multi-rotor aerocraft, and the heading as multi-rotor aerocraft is away from no-fly region, then forward step S407 to; Heading as multi-rotor aerocraft is near no-fly region, then forward step S406 to.
So namely, complete the control procedure of the multi-rotor aerocraft of this specific embodiment.
The control method of multi-rotor aerocraft of the present invention and multi-rotor aerocraft, for the flight safety region of multi-rotor aerocraft and no-fly region, adopt different offline mode, improve the work efficiency of multi-rotor aerocraft; Solve the control method of existing multi-rotor aerocraft and the transition that can not well realize between safety zone and no-fly region of multi-rotor aerocraft, cause the technical matters that the work efficiency of multi-rotor aerocraft is lower.
Each functional unit in the embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.Above-mentioned each device or system, can perform the method in correlation method embodiment.
In sum; although the present invention discloses as above with preferred embodiment; but above preferred embodiment is also not used to limit the present invention; those of ordinary skill in the art; without departing from the spirit and scope of the present invention; all can do various change and retouching, the scope that therefore protection scope of the present invention defines with claim is as the criterion.
Claims (10)
1. a control method for multi-rotor aerocraft, is characterized in that, comprising:
Obtain the location parameter of described multi-rotor aerocraft;
According to the location parameter of described multi-rotor aerocraft, determine the flight range of described multi-rotor aerocraft; Wherein said flight range comprises no-fly region and safety zone;
According to the flight range of described multi-rotor aerocraft, determine the offline mode of described multi-rotor aerocraft; And
Use the offline mode of described multi-rotor aerocraft, flight is carried out to described multi-rotor aerocraft and controls;
Wherein according to the flight range of described multi-rotor aerocraft, determine that the step of the offline mode of described multi-rotor aerocraft comprises:
As described in multi-rotor aerocraft be in as described in no-fly region time, perform warning offline mode;
As described in multi-rotor aerocraft be in as described in safety zone time, perform normal flight pattern.
2. the control method of multi-rotor aerocraft according to claim 1, is characterized in that, when described multi-rotor aerocraft is in described warning offline mode, described multi-rotor aerocraft carries out alarm operation; After setting-up time, perform operation of making a return voyage.
3. the control method of multi-rotor aerocraft according to claim 1, is characterized in that, described flight range also comprises flight warning region; The described flight range according to described multi-rotor aerocraft, determine that the step of the offline mode of described multi-rotor aerocraft also comprises:
As described in multi-rotor aerocraft be in flight warning region time, perform restriction offline mode; Wherein said flight warning region is between described no-fly region and described safety zone.
4. the control method of multi-rotor aerocraft according to claim 3, it is characterized in that, when described multi-rotor aerocraft is in described restriction offline mode, described multi-rotor aerocraft obtains the heading of described multi-rotor aerocraft, as as described in the heading of multi-rotor aerocraft be away from as described in no-fly region, then perform described normal flight pattern; As described in the heading of multi-rotor aerocraft be near as described in no-fly region, then perform described warning offline mode.
5. the control method of multi-rotor aerocraft according to claim 3, is characterized in that, when described multi-rotor aerocraft is in described restriction offline mode, the flying height of described multi-rotor aerocraft and flying speed is set to preset value.
6. a multi-rotor aerocraft, is characterized in that, comprising:
Body;
Multiple rotor;
GPS module, is arranged on described body, for obtaining the location parameter of described multi-rotor aerocraft;
Flight range database chip, is arranged on described body, for storing the flight range data of described multi-rotor aerocraft;
Geographic information processing device, is arranged on described body, for the location parameter of described multi-rotor aerocraft that obtains according to described GPS and described flight range data, determines the flight range of described multi-rotor aerocraft; Wherein said flight range comprises no-fly region and safety zone; And
Flight range control module, for the flight range according to described multi-rotor aerocraft, determines the offline mode of described multi-rotor aerocraft; And use the offline mode of described multi-rotor aerocraft, flight is carried out to described multi-rotor aerocraft and controls;
Wherein said flight range control module at least comprises:
To report to the police flight performance element, for as described in multi-rotor aerocraft be in described no-fly region time, execution warning offline mode; And
Normal flight performance element, for as described in multi-rotor aerocraft be in as described in safety zone time, perform normal flight pattern.
7. multi-rotor aerocraft according to claim 6, is characterized in that, when described multi-rotor aerocraft is in described warning offline mode, described multi-rotor aerocraft carries out alarm operation; After setting-up time, perform operation of making a return voyage.
8. multi-rotor aerocraft according to claim 6, is characterized in that, described flight range also comprises flight warning region; Described flight range control module also comprises:
Warning flight performance element, for as described in multi-rotor aerocraft be in flight warning region time, perform restriction offline mode; Wherein said flight warning region is between described no-fly region and described safety zone.
9. multi-rotor aerocraft according to claim 8, it is characterized in that, when described multi-rotor aerocraft is in described restriction offline mode, described warning flight performance element obtains the heading of described multi-rotor aerocraft, as as described in the heading of multi-rotor aerocraft be away from as described in no-fly region, then described warning flight performance element performs described normal flight pattern; As described in the heading of multi-rotor aerocraft be near as described in no-fly region, then the described warning performance element that flies performs described warning offline mode.
10. multi-rotor aerocraft according to claim 8, it is characterized in that, when described multi-rotor aerocraft is in described restriction offline mode, the flying height of described multi-rotor aerocraft and flying speed are set to preset value by described warning flight performance element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510199084.0A CN104881023A (en) | 2015-04-23 | 2015-04-23 | Control method of multi-rotor type aircraft, and multi-rotor type aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510199084.0A CN104881023A (en) | 2015-04-23 | 2015-04-23 | Control method of multi-rotor type aircraft, and multi-rotor type aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104881023A true CN104881023A (en) | 2015-09-02 |
Family
ID=53948553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510199084.0A Pending CN104881023A (en) | 2015-04-23 | 2015-04-23 | Control method of multi-rotor type aircraft, and multi-rotor type aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104881023A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105472558A (en) * | 2015-12-18 | 2016-04-06 | 苏州贝多环保技术有限公司 | Unmanned aerial vehicle and control method |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN105867407A (en) * | 2016-06-12 | 2016-08-17 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle as well as control device and control method thereof |
| CN106094868A (en) * | 2016-08-01 | 2016-11-09 | 杨珊珊 | The Hovering control device of unmanned vehicle and Hovering control method thereof |
| CN106354154A (en) * | 2016-10-19 | 2017-01-25 | 广东容祺智能科技有限公司 | Flying limiting system for geographic position of unmanned aerial vehicle |
| CN106406347A (en) * | 2016-10-28 | 2017-02-15 | 易瓦特科技股份公司 | Flight control method and apparatus for unmanned aerial vehicle |
| CN106846715A (en) * | 2015-10-22 | 2017-06-13 | 霍尼韦尔国际公司 | Aerocraft system and method with wearable device alarm |
| CN106940535A (en) * | 2016-01-05 | 2017-07-11 | 恩智浦有限公司 | Equipment and the method for controlling it to operate |
| CN106970640A (en) * | 2017-03-21 | 2017-07-21 | 北京小米移动软件有限公司 | The no-fly control method and device of unmanned plane |
| CN107490992A (en) * | 2017-09-29 | 2017-12-19 | 中航天元防务技术（北京）有限公司 | Short range low-level defence control method and system |
| CN108028024A (en) * | 2015-12-28 | 2018-05-11 | Kddi株式会社 | Flyer control device, clearance spatial domain initialization system, flyer control method and program |
| WO2018098775A1 (en) * | 2016-12-01 | 2018-06-07 | SZ DJI Technology Co., Ltd. | Systems and methods of unmanned aerial vehicle flight restriction for stationary and moving objects |
| CN108260076A (en) * | 2016-12-28 | 2018-07-06 | 中国电信股份有限公司 | Method, platform and the system of unmanned plane running orbit monitoring |
| CN108496134A (en) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane makes a return voyage paths planning method and device |
| CN108521804A (en) * | 2017-06-20 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of flight range planning method and equipment of unmanned plane |
| WO2020155425A1 (en) * | 2019-01-31 | 2020-08-06 | 拓攻（南京）机器人有限公司 | No-fly control method, apparatus and device for unmanned aerial vehicle, and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030081259A (en) * | 2003-09-23 | 2003-10-17 | 주근종 | The manufacturing Method of calcium bean sprouts |
| CN101582205A (en) * | 2009-06-11 | 2009-11-18 | 山东大学 | Method and device for monitoring flying state of low-altitude airspace aerocraft |
| CN101833870A (en) * | 2010-05-20 | 2010-09-15 | 无锡汉和航空技术有限公司 | Air safety monitoring method for unmanned aerial vehicle |
| CN102426806A (en) * | 2011-11-07 | 2012-04-25 | 同济大学 | Regional rail network UAV cruise method based on dynamic cell division |
| CN103267528A (en) * | 2013-05-07 | 2013-08-28 | 西北工业大学 | Multi-unmanned aerial vehicle cooperative area search method under non-flight zone limitation |
| CN103365299A (en) * | 2013-08-02 | 2013-10-23 | 中国科学院自动化研究所 | Method and device for avoiding obstacle of unmanned aerial vehicle |
| CN103901892A (en) * | 2014-03-04 | 2014-07-02 | 清华大学 | Control method and system of unmanned aerial vehicle |
| CN104483970A (en) * | 2014-12-20 | 2015-04-01 | 徐嘉荫 | Unpiloted system navigation control method based on global positioning system or mobile communication network |
-
2015
- 2015-04-23 CN CN201510199084.0A patent/CN104881023A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030081259A (en) * | 2003-09-23 | 2003-10-17 | 주근종 | The manufacturing Method of calcium bean sprouts |
| CN101582205A (en) * | 2009-06-11 | 2009-11-18 | 山东大学 | Method and device for monitoring flying state of low-altitude airspace aerocraft |
| CN101833870A (en) * | 2010-05-20 | 2010-09-15 | 无锡汉和航空技术有限公司 | Air safety monitoring method for unmanned aerial vehicle |
| CN102426806A (en) * | 2011-11-07 | 2012-04-25 | 同济大学 | Regional rail network UAV cruise method based on dynamic cell division |
| CN103267528A (en) * | 2013-05-07 | 2013-08-28 | 西北工业大学 | Multi-unmanned aerial vehicle cooperative area search method under non-flight zone limitation |
| CN103365299A (en) * | 2013-08-02 | 2013-10-23 | 中国科学院自动化研究所 | Method and device for avoiding obstacle of unmanned aerial vehicle |
| CN103901892A (en) * | 2014-03-04 | 2014-07-02 | 清华大学 | Control method and system of unmanned aerial vehicle |
| CN104483970A (en) * | 2014-12-20 | 2015-04-01 | 徐嘉荫 | Unpiloted system navigation control method based on global positioning system or mobile communication network |
Non-Patent Citations (1)
| Title |
|---|
| 大疆公司: "飞行", 《INSPIRE 1用户手册》 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106846715A (en) * | 2015-10-22 | 2017-06-13 | 霍尼韦尔国际公司 | Aerocraft system and method with wearable device alarm |
| CN106846715B (en) * | 2015-10-22 | 2021-02-09 | 霍尼韦尔国际公司 | Aircraft systems and methods with wearable device alerts |
| CN105472558A (en) * | 2015-12-18 | 2016-04-06 | 苏州贝多环保技术有限公司 | Unmanned aerial vehicle and control method |
| US10720067B2 (en) | 2015-12-28 | 2020-07-21 | Kddi Corporation | Unmanned flight vehicle having rotor, motor rotating the rotor and control device |
| US11373541B2 (en) | 2015-12-28 | 2022-06-28 | Kddi Corporation | Flight permitted airspace setting device and method |
| CN108028024A (en) * | 2015-12-28 | 2018-05-11 | Kddi株式会社 | Flyer control device, clearance spatial domain initialization system, flyer control method and program |
| CN106940535A (en) * | 2016-01-05 | 2017-07-11 | 恩智浦有限公司 | Equipment and the method for controlling it to operate |
| CN106940535B (en) * | 2016-01-05 | 2021-10-22 | 恩智浦有限公司 | Apparatus and method for controlling operation thereof |
| CN105722031A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Unmanned aerial vehicle |
| CN105867407A (en) * | 2016-06-12 | 2016-08-17 | 零度智控（北京）智能科技有限公司 | Unmanned aerial vehicle as well as control device and control method thereof |
| CN106094868A (en) * | 2016-08-01 | 2016-11-09 | 杨珊珊 | The Hovering control device of unmanned vehicle and Hovering control method thereof |
| CN106354154A (en) * | 2016-10-19 | 2017-01-25 | 广东容祺智能科技有限公司 | Flying limiting system for geographic position of unmanned aerial vehicle |
| CN106406347A (en) * | 2016-10-28 | 2017-02-15 | 易瓦特科技股份公司 | Flight control method and apparatus for unmanned aerial vehicle |
| CN106406347B (en) * | 2016-10-28 | 2020-04-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle flight control method and device |
| WO2018098775A1 (en) * | 2016-12-01 | 2018-06-07 | SZ DJI Technology Co., Ltd. | Systems and methods of unmanned aerial vehicle flight restriction for stationary and moving objects |
| CN108260076A (en) * | 2016-12-28 | 2018-07-06 | 中国电信股份有限公司 | Method, platform and the system of unmanned plane running orbit monitoring |
| CN106970640A (en) * | 2017-03-21 | 2017-07-21 | 北京小米移动软件有限公司 | The no-fly control method and device of unmanned plane |
| CN108496134A (en) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane makes a return voyage paths planning method and device |
| CN108521804A (en) * | 2017-06-20 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of flight range planning method and equipment of unmanned plane |
| CN107490992A (en) * | 2017-09-29 | 2017-12-19 | 中航天元防务技术（北京）有限公司 | Short range low-level defence control method and system |
| WO2020155425A1 (en) * | 2019-01-31 | 2020-08-06 | 拓攻（南京）机器人有限公司 | No-fly control method, apparatus and device for unmanned aerial vehicle, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104881023A (en) | Control method of multi-rotor type aircraft, and multi-rotor type aircraft | |
| CN104834307A (en) | Control method and control device of unmanned aerial vehicle | |
| EP3640921B1 (en) | Adaptive sense and avoid system | |
| JP6727269B2 (en) | Aircraft recognition display | |
| JP6900608B2 (en) | How to fly an unmanned aerial vehicle to stationary and moving objects | |
| CN105022401B (en) | Many four rotor wing unmanned aerial vehicles collaboration SLAM methods of view-based access control model | |
| CA2923978C (en) | Systems and methods of transmitter location detection | |
| Deng et al. | Indoor multi-camera-based testbed for 3-D tracking and control of UAVs | |
| CN103984357A (en) | Unmanned aerial vehicle automatic obstacle avoidance flight system based on panoramic stereo imaging device | |
| Bentz et al. | Complete 3-D dynamic coverage in energy-constrained multi-UAV sensor networks | |
| KR20200031683A (en) | Drone planning method, device and remote control | |
| Chen et al. | Designing a spatially aware and autonomous quadcopter | |
| JPWO2017221859A1 (en) | Mobile body, mobile body control system, mobile body control method, interface device, and program | |
| Bareiss et al. | On-board model-based automatic collision avoidance: application in remotely-piloted unmanned aerial vehicles | |
| US20240176367A1 (en) | Uav dispatching method, server, dock apparatus, system, and storage medium | |
| CN110196601A (en) | Unmanned aerial vehicle (UAV) control method, apparatus, system and computer readable storage medium | |
| Ma et al. | Volcanic ash region path planning based on improved A-star algorithm | |
| Yang et al. | Optimization of dynamic obstacle avoidance path of multirotor UAV based on ant colony algorithm | |
| Pannozzi et al. | Urban monitoring of smart communities using UAS | |
| Li et al. | Design and implementation of a centralized system for autonomous unmanned aerial vehicle trajectory conflict resolution | |
| KR102233226B1 (en) | FPGA-based drone flight control computer with LiDAR | |
| Prasad et al. | Simulation of An Autonomous Website Controlled Payload Delivery UAV for Medical Emergency Response | |
| McManus et al. | Multidisciplinary approach to intelligent unmanned-airborne-vehicles mission planning | |
| Rithic et al. | Real-time implementation of RF-based mobile fleet localization and collision avoidance system in wireless sensor network for drones and gliders | |
| Berini et al. | A new static path planning strategy for drones |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190531 Address after: Building No. 12, No. 2, Xidawang Road, Chaoyang District, Beijing, 100020 (incubator 25978, National Advertising Industry Park) Applicant after: High domain (Beijing) Intelligent Technology Research Institute Co., Ltd. Address before: 200032 Building 8, 149 lane, Dongan Road, Xuhui District, Shanghai 1201 Applicant before: Yang Shanshan |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150902 |
|
| RJ01 | Rejection of invention patent application after publication |